The invention provides an illegal parking detection method based on a robot. The method comprises the following steps: S1, obtaining laser point cloud data obtained by the robot; s2, acquiring a three-dimensional bounding box of each vehicle from the laser point cloud data; s3, converting the coordinates of the three-dimensional bounding box of each vehicle into a point cloud map to obtain a vehicle frame set of each vehicle; and S4, calculating the IOU of each vehicle frame in the vehicle frame set of each vehicle and the three-dimensional bounding box of each no-parking area in the no-parking area set, and determining that illegal parking occurs when any IOU is greater than a preset value. The point cloud data is acquired in real time through the robot, the three-dimensional bounding box of the vehicle is identified from the point cloud data, and IOU calculation is performed by using the three-dimensional bounding box of the vehicle and the three-dimensional bounding box of the pre-defined parking forbidding area, so that whether illegal parking occurs or not is judged.
本发明提供了一种基于机器人的违规停车检测方法,S1,获取机器人获得的激光点云数据;S2,从所述激光点云数据获取每辆车的三维包围盒;S3,将所述每辆车的三维包围盒的坐标转换到点云地图中,获得每辆车的车辆框集合;S4,将所述每辆车的车辆框集合中每一个车辆框与禁停区域集合中每一个禁停区域三维包围盒计算IOU,在所述任意一个IOU大于预设值时,则认为产生违停。本发明通过机器人实时获取点云数据,并从点云数据中识别出车辆的三维包围盒,并使用车辆的三维包围盒与事先划定的禁停区域的三维包围盒进行IOU计算,从而判断是否产生违规停车。
Robot-based illegal parking detection method and device and robot
一种基于机器人的违规停车检测方法、装置及机器人
2023-07-07
Patent
Electronic Resource
Chinese
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